IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

A Chaotic PWM Motor Drive for Electric Propulsion

Zheng Wang*, K. T. Chau*, and M. Cheng**
*

Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong, China. Email: zwang@eee.hku.hk, ktchau@eee.hku.hk ** School of Electrical Engineering, Southeast University, Nan Jing, China. Email: mcheng@seu.edu.cn

AbstractIn this paper, a chaotic Pulse width modulation (PWM) closed-loop induction motor drive is proposed and implemented to improve the electromagnetic compatibility (EMC) for electric propulsion. The key is to propose a chaotically amplitude-modulated frequency modulator (CAFM) to modulate the space vector PWM (SVPWM), in such a way that the CAFM-SVPWM scheme is proposed for the vector controlled induction motor drive. By designing the CAFM properly, the proposed CAFM-SVPWM scheme can not only decrease the peaky electromagnetic interference (EMI) but also avoid the mechanical resonance in induction motor drives. Thus, it affords better spectrum performance than the fixed frequency PWM and random frequency PWM induction motor drives. Also, the proposed chaotic PWM induction motor drives could provide good steady-state as well as transient operating performance for electric propulsion. Both simulation and experimental results are given to verify the validity of the proposed chaotic PWM motor drives. Keywords electric propulsion; interference; chaos; PWM inverter electromagnetic

The purpose of this paper is to propose a new chaotic space vector PWM (SVPWM) based induction motor drive, which will not only afford better performance than conventional PWM based induction motor drives, but also provided good operating performance for electric propulsion. The key is to use the Logistic map to generate chaotic sequence for chaoization of the amplitude of the standard frequency modulator (FM), and thus the chaotic FM is got. By using this chaotic FM to modulate the SVPWM, the chaotically amplitude-modulated FM based SVPWM (CAFM-SVPWM) is realized, which is in turn applied to the vector controlled induction motor drive for electric propulsion. The proposed chaotic PWM motor drive affords the definite advantages of low EMI level and high immunity to mechanical resonance. Besides, it retains the inherent good peculiarities of the SVPWM and vector control. II. PROPOSED CHAOTIC PWM Fig. 1 shows the configuration of conducted emissions in the induction motor drive. The common-mode (CM) current flows between the input phases and the earth of the drive system, while the differential-mode (DM) current flows between different phases. It has been verified the exciting sources of the CM emission and the DM emission are both determined by the PWM inverter output voltages [5]. On the other hand, the spectrum of the magnetic force on the stator of the induction motor is also verified to be determined by the PWM inverter output voltages [6]. So, a proper PWM scheme should be designed not only to decrease the peaky EMI but also to avoid overlapping the mechanical resonant frequency of the motor. A new chaotic frequency modulation is proposed which is induced from the standard FM technique. So, firstly the standard FM is used to modulate the switching frequency of the conventional SVPWM. The principle of the standard FM is represented as:

I. INTRODUCTION The electric propulsion system plays an important role in many industrial applications such as hybrid electric vehicles (HEVs) and electric vehicles (EVs). The motor drive, comprising of the electric motor, power converter, and the electronic controller, is the core of the electric propulsion system [1]. Today, the PWM inverter based induction motor drive is widely used in electric propulsion systems. However, the conventional PWM schemes suffer from high peaky electromagnetic interferences (EMI) due to the fixed switching frequencies. Recently, random PWM has been developed to attenuate the electromagnetic noise for electric propulsion drives [2]. It effectively spread the switching harmonic spectrum, and thus reduces the peaky EMI. However, it has been claimed the random PWM will induce the mechanical resonance if the magnetic force spectra overlaps the natural frequency of the induction motor [3]. As an effective alternative for truly random sources which are expensively realizable, chaotic sinusoidal PWM (SPWM) has been adopted to improve the electromagnetic compatibility (EMC) for induction motor drives [4]. However, its advantage over the random PWM is vague. Besides, it has been only applied to the open-loop induction motor drive, with which good operating performance can not be got for electric propulsion system.

f v = f sw + f sin(2f m t )

(1)

where f v is the real switching frequency, f sw is the fixed switching frequency of the conventional SVPWM, f is the deviation frequency, f m is the modulating frequency, and f sin( 2f m t ) is the standard FM. With the standard FM, the switching harmonic peaks at nf sw of the conventional SVPWM are broken into many smaller

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IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

Figure 1. Conducted emissions in induction motor drives.

discrete harmonics at nf sw kf m in the spectrum. Thus, the peaky EMI level is reduced. Moreover, according to the Carsons rule, the power spectrum of the inverter output voltage will be limited within the sideband of [ nf sw nf f m , nf sw + nf + f m ] under the condition that f sw >> f ref , where f ref is the frequency of reference voltage vector. Secondly, in order to further reduce the peaky switching harmonics, the Logistic map i +1 = A i (1 i ) ( A =4) is used to generate the chaotic series { i } (0,1) , which is in turn used to modulate f in (1). Thus, the chaotic FM is realized which can be represented as:

sidebands [ nf sw nf f m , nf sw + nf + f m ]. Fig. 2 shows the flowchart of implementation of the CAFM-SVWPM. The switching period Tv is updated during each switching interval Tvj and the modulating amplitude i f is modified during each modulating interval 1 / f m . The symmetrical regular sampling is used, and the sampling rate is always synchronous with the switching frequency so as to enable good operating performance for the induction motor drive. APPLICATION TO VECTOR CONTROLLED INDUCTION MOTOR DRIVES The proposed CAFM-SVPWM is then applied to the induction motor drive using vector control. The dynamic equations of the induction motor drive resulting from rotor field orientation are expressed as:
2 did Rr L2 R s L2 u m i mr r + R r Lm id + r iq + d = 2 2 dt s Ls s Ls Lr s Ls Lr

III.

f v = f sw + i f sin( 2f m t )

(2)

Due to the inherent nature of continuous spectrum of chaotic series, the inverter output voltage spectra with the chaotic FM will be continuous. Consequently, the peaky harmonics of the inverter output voltage will be further decreased, and so will the EMI level in the motor drive be. At the same time, the sidebands [ nf sw n i f f m , nf sw + n i f + f m ] are also located within the sideband [ nf sw nf f m , nf sw + nf + f m ] in the spectrum, since i f < f for each value of i . So, the switching harmonics around nf sw will also be limited within the

(3)

di q dt

uq n L2 R L2 + Rr L2 m i mr m s r i q r id + 2 s L s Lr s Ls s L s Lr dimr R R = r i mr + r i d dt Lr Lr

(4)

(5)

r = n +

Rr i q Lr imr

(6)

where i d and iq are the stator current components along the direction of rotor flux (namely, the d -axis) and along the orthogonal direction of rotor flux (namely, the q axis), respectively; imr , r and n are the magnetizing current in the rotor, the speed of rotor flux and the rotor speed, respectively; u d and u q are the stator voltage components along the d -axis and the q -axis, respectively; Rs and Rr are the winding resistances of the stator and rotor, respectively; Ls , Lr and Lm are the stator inductance, the rotor inductance and the mutual

Figure 2. Flowchart of implementation of CAFM-SVPWM

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

Figure 3. Block diagram of vector controlled induction motor drive.

inductance, respectively; s and r are the leakage factor of the stator and the rotor, respectively. Fig. 3 shows the diagram of the rotor-flux-oriented vector controller for induction motor drives where the indirect field orientation with open-loop current model based flux observer is used. In the field orientation, the rotor flux position can be obtained by adding the rotor position to the slip frequency position which is calculated using the flux and torque current. Two closed-loop controllers, namely the inner-loop current controller and the outer-loop speed controller, are used. Since the purpose of this paper is to evaluate the performance of chaotic PWM schemes for closed-loop induction motor drives, the simple PI control method is used in both current controller and speed controller. In the current controller the sampling rate is synchronous to the switching rate of the inverter while in the speed controller the sampling rate is kept to be a constant value. Due to the variation of the switching frequency for the inverter using random PWM and chaotic PWM, the control parameters in the current controller should be updated synchronously in order to maintain good control performance. Thus, the PI parameters in the controller should be updated as K P = K p and K I = K iTv where K P and K I are the discrete proportional parameter and integral parameter while K p and K i are the continuous proportional parameter and integral parameter. IV. SIMULATION RESULTS A laboratory induction motor is used for exemplification and its key parameters are listed in Table I. Given ref =270rpm and f sw =10kHz, it deduces
f =3kHz and f m =0.1kHz so as to avoid overlapping with the mechanical resonant frequency of 13.5kHz. Firstly, the phase voltage VA spectra and the line voltage VAB spectra within 0~150kHz using different SVPWM schemes, namely the fixed frequency SVPWM (FF-SVPWM), the randomly frequency-modulated SVPWM (RFM-SVPWM) and the CAFM-SVPWM, are computed under the same f sw and f . The spectrum is computed by a Matlab function, namely the periodogram method. In order to enlarge the spectrum performance around the switching frequency, Fig. 4 and 5 show the

TABLE I. PARAMETERS OF INDUCTION MOTORS Rated power Rated voltage Rated speed Poles Stator resistance Stator inductance Rotor resistance Rotor inductance Mutual inductance Rotor inertia Viscous coefficient 1.5 kw 220 V 1430 rpm 4 3.3 43.9 mH 3 43.9 mH 278 mH 6.65 10-3 kgm2 5.5 10-6 Nm/rads-1

simulated VA spectra and VAB spectra within 0~30kHz, respectively. As predicted, there exist distinct peaks in the spectrum of FF-SVPWM, while the peaky EMI is reduced in the spectrum of RFM-SVPWM and CAFM-SVPWM. Besides, the CAFM-SVPWM has an obvious fall-off around the mechanical resonant frequency in the inverter output voltage spectrum, while the output voltage spectrum of the RFM-SVPWM overlaps the mechanical resonant frequency and has more possibility of occurrence of mechanical resonance. Since the conducted EMI with frequency exceeding 9kHz is stringently limited in many countries, the maximum power spectrum density (MPSD) of VA and VAB above 9kHz is used as one indicator for spectrum comparison. In order to evaluate the possibility of mechanical resonance, the power of VA and VAB within the sideband of 13.4~13.6kHz around the natural frequency is used as another indicator for spectrum comparison. The comparison results are listed in Table II. Consequently, it can be seen that the MPSD of RFMTABLE II. SPECTRUM COMPARISON Index MPSD (dBm/Hz) Power (dBm)
VA V AB VA V AB

FF 42.49 34.84 -5.57 -5.64

RFM 17.50 5.04 21.24 15.57

CAFM 21.03 9.41 7.19 0.81

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

(a)

(a)

(b)

(b)

(c) Figure 4. Simulated V A spectra: (a) FF-SVPWM; (b) RFMSVPWM; (c) CAFM-SVPWM.

(c) Figure 5. Simulated V AB spectra: (a) FF-SVPWM; (b) RFMSVPWM; (c) CAFM-SVPWM.

Figure 6. Simulated steady-state current of chaotic PWM motor drive.

SVPWM and CAFM-SVPWM are much smaller than the FF-SVPWM. It indicates that both RFM-SVPWM and CAFM-SVPWM are efficient in suppressing the peaky EMI in conventional FF-SVPWM. Furthermore, the

CAFM-SVPWM has much less power around the mechanical resonant frequency than the RFM-SVPWM, hence having higher immunity to mechanical resonant vibration. So, the comparison quantitatively proves the

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

(a)

(b)

Figure 7. Simulated transient performance of chaotic PWM motor drive: (a) current controller; (b) speed controller.

(a)

(a)

(b)

(b)

(c) Figure 8. Measured V A spectra (X: 0~30kHz, 3kHz/div; Y: 80~80dBm/Hz, 20dBm/Hz/div): (a) FF-SVPWM; (b) RFMSVPWM; (c) CAFM-SVPWM.

(c) Figure 9. Measured V AB spectra (X: 0~30kHz, 3kHz/div; Y: 80~80dBm/Hz, 20dBm/Hz/div): (a) FF-SVPWM; (b) RFMSVPWM; (c) CAFM-SVPWM.

proposed CAFM-SVPWM not only decreases the peaky EMI but also has high immunity to mechanical resonance in the motor drive. Secondly, the steady-state performance of the chaotic motor drive is examined by simulation. Fig. 6 shows the simulated steady-state waveforms and trajectory of and

component of armature current of the proposed chaotic motor drive using CAFM-SVPWM. It can be seen that the current waveform is very sinusoidal, and the trajectory is a smooth circle. So there is no distortion in the steady-state current of the chaotic motor drive.

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

(a) Figure 10. Measured steady-state and current of chaotic PWM motor drive (left: waveform, X: 20ms/div, Y: 0.4A/div; right: trajectory, X: 0.4A/div, Y: 0.4A/div).

(b)

Figure 11. Measured transient performance of chaotic PWM motor drive: (a) current controller (upper: i q , X: 1s/div, Y: 0.4A/div; lower: id , X: 1s/div, Y: 0.4A/div); (b) speed controller: (X: 5s/div; Y: 72rpm/div).

Thirdly, the transient performance of the current controller and the speed controller are examined, respectively. Fig. 7(a) shows the dynamic current response of the chaotic motor drive under the stepping commands. The stepping command of d -component current is 0.5A 1A 0.5A 0.75A while that of q -component current is 0.58A 0.25A 1A 0.33A. Both d component current and q -component current can track the current reference accurately and quickly. Fig. 7(b) shows the dynamic speed response of the chaotic motor drive under a stepping command of 270rpm 118rpm 0rmp 270rpm. This figure also proves the good transient performance of the speed controller. V. EXPERIMENTAL VERIFICATION For experimental verification, an IGBT-based voltage source inverter is built. The control strategy and the SVPWM scheme are implemented by a DSP TMS320F240 microcontroller digitally. The LeCroy WR6100A digital storage oscilloscope with a special spectrum analyzer module is used to measure the voltage spectra. The sampling rate of the spectrum analyzer is set to be 500k/s, and the band resolution is 15Hz. The Givi Misure EN600C-10000PPR encoder is used to measure the rotor speed and the LEM LA25-NP current sensor is used to measure the armature current. Firstly, the measured VA spectra and VAB spectra of the motor drive using different SVPWM schemes are shown in Fig. 8 and 9, respectively. The pattern of the measured spectra well agrees with that of simulation. Namely, both RFM-SVPWM and CAFM-SVPWM have smaller switching harmonics than FF-SVPWM, whilst the CAFM-SVPWM has less power around the mechanical resonant frequency of the motor than the RFM-SVPWM. So, it verifies the proposed CAFM-SVPWM affords better spectrum performance than the conventional SVPWM schemes experimentally. Secondly, the steady-state current waveform and trajectory of the proposed chaotic motor drive are measured as shown in Fig. 10. The measured results match the simulated ones well. Namely, the distortion is hard to discern in the measured waveform and trajectory. Thirdly, the dynamic responses of the current controller and the speed controller using CAFM-SVPWM under the

same command in section IV are measured as shown in Fig. 11(a) and 11(b), respectively. The measured results not only agree with the simulated results, but also prove the good transient operating performance of the proposed chaotic motor drive experimentally. VI. CONCLUSIONS By using a chaotic signal to modulate the frequency of SVPWM, a new CAFM-SVPWM scheme has been proposed and implemented to reduce the conducted EMI while avoiding mechanical resonant vibration in induction motor drives. Both simulation and experiments verify the proposed chaotic motor drive not only afford better spectrum performance than conventional PWM motor drive, but also provide good steady-state and transient operating performance for electric propulsion. ACKNOWLEDGMENT This work was partially supported and funded by a grant (No. 50729702) from the National Natural Science Foundation of China, and a matching fund (No. 10208114) from the University of Hong Kong, Hong Kong Special Administrative Region, China. REFERENCES
[1] [2] C.C. Chan, The state of the art of electric and hybrid vehicles, Proc. IEEE, vol. 90, no. 2, pp. 247-275, Feb. 2002. K. Borisov et al., Experimental investigation of a naval propulsion drive model with the PWM-based attenuation of the acoustic and electromagnetic noise, IEEE Trans. Ind. Electron., vol. 53, no. 2, pp. 450-457, April 2006. W.C. Lo et al., Acoustic noise radiated by PWM-controlled induction machine drives, IEEE Trans. Ind. Electron., vol. 47, no. 4, pp. 880-889, Aug. 2000. M. Balestra et al., Chaos-based generation of PWM-like signals for low-EMI induction motor drives: analysis and experimental results, IEICE Trans. Electron, vol. E87-C, no. 1, pp. 66-75, Jan. 2004. L. Ran et al., Conducted electromagnetic emissions in induction motor drive systems part I: time domain analysis and identification of dominant modes, IEEE Trans. Power Electron., vol. 13, no. 4, pp. 757-767, July 1998. H. Stemmler et al., Spectral analysis of the sinusoidal PWM with variable switching frequency for noise reduction in inverter-fed induction motors, in Rec. IEEE 25th Annu. Power Electronics Specialists Conf., pp. 268-277, June 1994.

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